Aligning road information for navigation

Patent metadata

Field	Value
Publication number	US-11499834-B2
Application number	US-202016811017-A
Country	US
Kind code	B2
Filing date	Mar 6, 2020
Priority date	Mar 7, 2019
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

The present disclosure relates to systems and methods for aligning navigation information from a plurality of vehicles. In one implementation, at least one processing device may receive first navigational information from a first vehicle and second navigational information from a second vehicle. The first and second navigational information may be associated with a road segment. The processor may divide the first navigational information into at least a first portion and a second portion; divide the second navigational information into at least a first portion and a second portion; align the first portion of the first navigational information with the first portion of the second navigational information; align the second portion of the first navigational information with the second portion of the second navigational information; generate a road model based on the aligned portions; and send the road model to vehicles for use in navigating along the road segment.

First claim

What is claimed is:

1. A non-transitory, computer-readable medium storing instructions that, when executed by at least one processor, cause the at least one processor to:
receive first navigational information collected by a first vehicle over a first number of drives;
receive second navigational information collected by a second vehicle over a second number of drives, wherein the first number of drives and the second number of drives are each equal to or less than a predetermined threshold number of drives, and wherein the first navigational information and the second navigational information are associated with a road segment;
divide the first navigational information into at least a first portion and a second portion, and divide the second navigational information into at least a first portion and a second portion, wherein the first portion of the first navigational information and the first portion of the second navigational information represent a common first section of the road segment, and wherein the second portion of the first navigational information and the second portion of the second navigational information represent a common second section of the road segment;
align the first portion of the first navigational information with the first portion of the second navigational information, and align the second portion of the first navigational information with the second portion of the second navigational information, wherein aligning the second portion of the first navigational information with the second portion of the second navigation information includes rotating the second portion of the second navigational information relative to the second portion of the first navigational information;
generate a road model based on the aligned portions; and
send at least a portion of the road model to one or more vehicles for use in navigating the one or more vehicles along the road segment.

2. The non-transitory, computer-readable medium of claim 1 , wherein a length of the common first section is the same as a length of the common second section.

3. The non-transitory, computer-readable medium of claim 1 , wherein the length of the common first section and the length of the common second section are each between 45 and 65 meters.

4. The non-transitory, computer-readable medium of claim 1 , wherein a length of at least one of the common first section or the common second section is based at least in part on a curvature of at least a portion of the road segment.

5. The non-transitory, computer-readable medium of claim 1 , wherein the instructions further cause the at least one processor to:
divide the first navigational information into a third portion, and divide the second navigational information into a third portion, wherein the third portion of the first navigational information and the third portion of the second navigational information represent a common third section of the road segment; and
align the third portion of the first navigational information with the third portion of the second navigational information.

6. The non-transitory, computer-readable medium of claim 1 , wherein the first navigational information or the second navigational information is received over a network.

7. The non-transitory, computer-readable medium of claim 1 , wherein the first navigational information or the second navigational information includes global positioning system (GPS) information.

8. The non-transitory, computer-readable medium of claim 1 , wherein the first navigational information includes a first location of at least one landmark based on one or more images captured by a camera included in the first vehicle and the second navigational information includes a second location of the at least one landmark based on one or more images captured by a camera included in the second vehicle.

9. The non-transitory, computer-readable medium of claim 8 , wherein aligning the first portion of the first navigational information with the first portion of the second navigational information is based on the first and second locations of the at least one landmark.

10. The non-transitory, computer-readable medium of claim 8 , wherein the at least one landmark includes a road marking, a road sign, or a traffic light.

11. The non-transitory, computer-readable medium of claim 1 , wherein the instructions further cause the at least one processor to:
correlate the aligned portions with a global coordinate system; and
store the correlated aligned portions in association with the common road segment.

12. The non-transitory, computer-readable medium of claim 1 , wherein the first vehicle collected the first navigational information and the second vehicle collected the second navigational information during a predetermined time period.

13. The non-transitory, computer-readable medium of claim 1 , wherein the first number of drives and the second number of drives are equal.

14. The non-transitory, computer-readable medium of claim 1 , wherein the first number of drives and the second number of drives are not equal.

15. The non-transitory, computer-readable medium of claim 1 , wherein the first navigational information or the second navigational information are rotated relative to a common point until at least a portion of the first navigational information at least partially overlaps with at least a portion of the second navigational information.

16. The non-transitory, computer-readable medium of claim 1 , wherein the one or more vehicles include autonomous vehicles.

17. The non-transitory, computer-readable medium of claim 1 , wherein aligning the first portion of the first navigational information with the first portion of the second navigational information includes rotation and translation of at least one of the first portion of the first navigational information or the first portion of the second navigational information.

18. The non-transitory, computer-readable medium of claim 1 , wherein the first portion of the first navigational information and the second portion of the first navigational information are joined at a common point.

19. The non-transitory, computer-readable medium of claim 1 , wherein the first portion of the second navigational information and the second portion of the second navigational information are joined at a common point.

20. The non-transitory, computer-readable medium of claim 1 , wherein the first portion and the second portion of the first navigational information are associated with a first plurality of captured image frames, and wherein the first portion and the second portion of the second navigational information are associated with a second plurality of captured image frames.

21. The non-transitory, computer-readable medium of claim 1 , wherein the first section and the second section share a common point, and wherein rotating the second portion of the second navigational information relative to the second portion of the first navigational information includes rotating the second portion of the second navigational information about the common point.

22. The non-transitory, computer-readable medium of claim 1 , wherein a length of at least one of the common first section or the common second section is determined based on a density of data points collected along the road segment.

23. A server for aligning navigation information from a plurality of vehicles, the server comprising:
at least one processor programmed to:
receive first navigatio

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Shapira Dori
• Tubis Igor
• Rokni Uri
• Ratner Nir

Classifications

• G06V20/58 Primary

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01C21/32 Primary

  Structuring or formatting of map data · CPC title

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06V20/582

  of traffic signs · CPC title